<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>My Project: src/route_tinker/route_tinker.cpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">My Project
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.8.13 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'搜索');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('route__tinker_8cpp_source.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">route_tinker.cpp</div>  </div>
</div><!--header-->
<div class="contents">
<a href="route__tinker_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;route_tinker/route_tinker.h&gt;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Path.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;std_msgs/String.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;sensor_msgs/PointCloud2.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;route_tracker/route_tracker.h&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;pcl/filters/voxel_grid.h&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;Eigen/Eigen&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;sensor_msgs/point_cloud_conversion.h&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/common/common.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/eigen.hpp&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span>  </div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;iomanip&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keywordtype">int</span> RRT_Base::get_nearst_point_index(Tree_t trees,TreeNode_t new_point){</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordtype">double</span> min_dist = calc_dist(trees[0],new_point);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">int</span> min_dist_index = 0;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="comment">// int area_x = new_point.x/5;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="comment">// int area_y = new_point.y/5;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1;i&lt;trees.size();i++){</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <span class="comment">// if(trees[i].area_x_idx&lt;(area_x-2)||trees[i].area_x_idx&lt;(area_x+2)) continue;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <span class="comment">// if(trees[i].area_y_idx&lt;(area_y-2)||trees[i].area_y_idx&lt;(area_y+2)) continue;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <span class="keyword">auto</span> tmp_dist = calc_dist(trees[i],new_point);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keywordflow">if</span>(tmp_dist&lt;min_dist){</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;            min_dist=tmp_dist;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;            min_dist_index=i;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordflow">return</span> min_dist_index;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;RRT_Base::TreeNode_t RRT_Base::get_nearst_point(Tree_t trees,TreeNode_t new_point){</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordtype">double</span> min_dist = calc_dist(trees[0],new_point);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordtype">int</span> min_dist_index = 0;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">// int area_x = new_point.x/5;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">// int area_y = new_point.y/5;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;trees.size();i++){</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="comment">// if(trees[i].area_x_idx&lt;(area_x-2)||trees[i].area_x_idx&lt;(area_x+2)) continue;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="comment">// if(trees[i].area_y_idx&lt;(area_y-2)||trees[i].area_y_idx&lt;(area_y+2)) continue;</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">auto</span> tmp_dist = calc_dist(trees[i],new_point);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordflow">if</span>(tmp_dist&lt;min_dist){</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;            min_dist=tmp_dist;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;            min_dist_index=i;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        }</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> trees[min_dist_index];</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;RRT_Base::TreeNode_t RRT_Base::get_nearst_point(Tree_t trees,TreeNode_t new_point,TreeNode_t target){</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">double</span> min_dist = calc_dist(trees[0],new_point);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    min_dist+=calc_dist(trees[0],target);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">int</span> min_dist_index = 0;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1;i&lt;trees.size();i++){</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">auto</span> tmp_dist = calc_dist(trees[i],new_point);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">double</span> target_dist = calc_dist(trees[i],target)*0.1;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        tmp_dist+=target_dist;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordflow">if</span>(tmp_dist&lt;min_dist){</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            min_dist=tmp_dist;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            min_dist_index=i;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        }</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span> trees[min_dist_index];</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keywordtype">double</span> RRT_Base::calc_grow_theta(TreeNode_t cloest_point,TreeNode_t new_point){</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">return</span> atan2(new_point.x-cloest_point.x,new_point.y-cloest_point.y);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keywordtype">double</span> RRT_Base::calc_grow_theta(WP cloest_point,WP new_point){</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> atan2(new_point.x-cloest_point.x,new_point.y-cloest_point.y);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;RRT_Base::TreeNode_t RRT_Base::extend_a_step(TreeNode_t cloest_point,<span class="keywordtype">double</span> step_size,<span class="keywordtype">double</span> rad){</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    cloest_point.x+=step_size*sin(rad);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    cloest_point.y+=step_size*cos(rad);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    cloest_point.z=<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;target_pos_z;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    TreeNode_t tmp(cloest_point);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">return</span> tmp;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keywordtype">bool</span> RRT_Base::single_point_check(WP newPoint ,OBSTACLE_GRID_MAP  &amp;obstaclesMap){</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">if</span>(obstaclesMap((<span class="keywordtype">int</span>)newPoint.y,(<span class="keywordtype">int</span>)newPoint.x)&gt;0) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        }</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keywordtype">bool</span> RRT_Base::check_if_path_ok(TreeNode_t cloest_point,TreeNode_t new_point,OBSTACLE_GRID_MAP &amp;obstaclesMap){</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">auto</span> grid_size = obstaclesMap.grid_size;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">//转化为栅格坐标</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    cloest_point.x = cloest_point.x/grid_size+obstaclesMap.center_x;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    cloest_point.y = cloest_point.y/grid_size+obstaclesMap.center_y;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    new_point.x = new_point.x/grid_size+obstaclesMap.center_x;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    new_point.y = new_point.y/grid_size+obstaclesMap.center_y;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">// rout(&quot;tmp index()%f  %f %f %f&quot;,cloest_point.p.x,cloest_point.p.y,new_point.p.x,new_point.p.y);</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    </div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    WPS tmp = bresenham(cloest_point,new_point);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="comment">// rout(&quot;tmp size()%d&quot;,tmp.size());</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    std::stringstream ss;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    ss&lt;&lt;<span class="stringliteral">&quot;bresenham index :&quot;</span>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0 ;i &lt;tmp.size();i++){</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        ss&lt;&lt;<span class="stringliteral">&quot;x:&quot;</span>&lt;&lt;tmp[i].x&lt;&lt;<span class="stringliteral">&quot;,y:&quot;</span>&lt;&lt;tmp[i].y&lt;&lt;<span class="stringliteral">&quot;---&gt;&quot;</span>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">if</span>(!single_point_check(tmp[i],obstaclesMap)){</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <span class="comment">// rout(&quot;check failed.&quot;);</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    }</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">// rout(&quot;%s &quot;,ss.str().c_str());</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keywordtype">bool</span> RRT_Base::check_if_path_ok(WP cloest_point,WP new_point,OBSTACLE_GRID_MAP &amp;obstaclesMap){</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">auto</span> grid_size = obstaclesMap.grid_size;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">//转化为栅格坐标</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    cloest_point.x = cloest_point.x/grid_size+obstaclesMap.center_x;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    cloest_point.y = cloest_point.y/grid_size+obstaclesMap.center_y;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    new_point.x = new_point.x/grid_size+obstaclesMap.center_x;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    new_point.y = new_point.y/grid_size+obstaclesMap.center_y;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    </div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    WPS tmp = bresenham(cloest_point,new_point);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// rout(&quot;tmp size()%d&quot;,tmp.size());</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    std::stringstream ss;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    ss&lt;&lt;<span class="stringliteral">&quot;bresenham index :&quot;</span>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0 ;i &lt;tmp.size();i++){</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        ss&lt;&lt;<span class="stringliteral">&quot;x:&quot;</span>&lt;&lt;tmp[i].x&lt;&lt;<span class="stringliteral">&quot;,y:&quot;</span>&lt;&lt;tmp[i].y&lt;&lt;<span class="stringliteral">&quot;---&gt;&quot;</span>;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">if</span>(!single_point_check(tmp[i],obstaclesMap)){</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            <span class="comment">// rout(&quot;check failed.&quot;);</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        }</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    }</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">// rout(&quot;%s &quot;,ss.str().c_str());</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">//step5</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keywordtype">bool</span> RRT_Base::check_if_reached_goal(TreeNode_t goal_point,TreeNode_t new_point,<span class="keywordtype">double</span> threshold){</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">if</span>(calc_dist(goal_point,new_point)&lt;threshold)</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;}</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">//step6</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keywordtype">bool</span> RRT_Base::check_if_new_point_too_close_to_other_points(Tree_t trees,TreeNode_t new_point,<span class="keywordtype">double</span> threshold,<span class="keywordtype">int</span> skip_idx){</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;trees.size();i++){</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">if</span>(i==skip_idx)<span class="keywordflow">continue</span>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">if</span>(calc_dist(trees[i],new_point)&lt;threshold){</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        }</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    }</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;WPS RRT_Base::get_rrt_path(Tree_t &amp;src_trees){</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    </div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    WPS tmp;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">int</span> father_index =(src_trees.end()-1)-&gt;father_index;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    tmp.push_back(*(src_trees.end()-1));</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    std::stringstream ss;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    ss&lt;&lt;<span class="stringliteral">&quot;-&gt;&quot;</span>&lt;&lt;(src_trees.end()-1)-&gt;index&lt;&lt;<span class="stringliteral">&quot;(&quot;</span>&lt;&lt;(src_trees.end()-1)-&gt;x&lt;&lt;<span class="stringliteral">&quot;)(&quot;</span>&lt;&lt;(src_trees.end()-1)-&gt;y&lt;&lt;<span class="stringliteral">&quot;)&quot;</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">while</span>(father_index!=-1){</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        tmp.push_back(src_trees[father_index]);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        ss&lt;&lt;<span class="stringliteral">&quot;-&gt;&quot;</span>&lt;&lt;src_trees[father_index].index&lt;&lt;<span class="stringliteral">&quot;(&quot;</span>&lt;&lt;src_trees[father_index].x&lt;&lt;<span class="stringliteral">&quot;)(&quot;</span>&lt;&lt;src_trees[father_index].y&lt;&lt;<span class="stringliteral">&quot;)&quot;</span>;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        father_index=src_trees[father_index].father_index;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordflow">if</span>(father_index == -1) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        </div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// rout(&quot;\r\n%s&quot;,ss.str().c_str());</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    WPS tmp_path_reverse;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=tmp.size()-1;i&gt;=0;i--){</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        tmp_path_reverse.push_back(tmp[i]);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">return</span> tmp_path_reverse;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;}</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;WPS RRT_Base::get_rrt_path(Tree_t &amp;first_tree,Tree_t &amp;sec_tree){</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    </div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    WPS tmp;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordtype">int</span> father_index =(first_tree.end()-1)-&gt;father_index;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    tmp.push_back(*(first_tree.end()-1));</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    std::stringstream ss;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    ss&lt;&lt;<span class="stringliteral">&quot;-&gt;&quot;</span>&lt;&lt;(first_tree.end()-1)-&gt;index&lt;&lt;<span class="stringliteral">&quot;(&quot;</span>&lt;&lt;(*(first_tree.end()-1)).x&lt;&lt;<span class="stringliteral">&quot;)(&quot;</span>&lt;&lt;(*(first_tree.end()-1)).y&lt;&lt;<span class="stringliteral">&quot;)&quot;</span>;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">while</span>(father_index&gt;-1){</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        tmp.push_back(first_tree[father_index]);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="comment">// ss&lt;&lt;&quot;-&gt;&quot;&lt;&lt;first_tree[father_index].index&lt;&lt;&quot;(&quot;&lt;&lt;first_tree[father_index].p.x&lt;&lt;&quot;)(&quot;&lt;&lt;first_tree[father_index].p.y&lt;&lt;&quot;)&quot;;</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        father_index=first_tree[father_index].father_index;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">if</span>(father_index == -1) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    WPS tmp_path_reverse;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=tmp.size()-1;i&gt;=0;i--){</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        tmp_path_reverse.push_back(tmp[i]);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">return</span> tmp_path_reverse;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="keywordtype">void</span> RRT_Base::simplify_rrt_trees(WPS &amp;path,OBSTACLE_GRID_MAP &amp;obstaclesMap){</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    WPS tmp_path;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    tmp_path.push_back(path[0]);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    </div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;path.size();i++){</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">bool</span> found=<span class="keyword">false</span>;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j=i+1;j&lt;path.size();j++){</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <span class="keywordflow">if</span>(check_if_path_ok(path[i],path[j],obstaclesMap)){</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            }</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            <span class="keywordflow">else</span>{</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                tmp_path.push_back(path[j-1]);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                i=j-1;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                found=<span class="keyword">true</span>;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            }</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        }</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keywordflow">if</span>(!found){</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            tmp_path.push_back(path[path.size()-1]);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        }</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    }</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    path=tmp_path;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;}</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="keywordtype">bool</span> CONNECT_RRT::Check_If_Target_OK(OBSTACLE_GRID_MAP &amp;obstaclesMap,FLY_PLAN_T &amp;current_route){</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    WP WayPoint(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;target_pos_x/obstaclesMap.grid_size+obstaclesMap.center_x,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;target_pos_y/obstaclesMap.grid_size+obstaclesMap.center_y,0);</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordtype">double</span>  length = 0.4;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordtype">double</span> new_x,new_y;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">bool</span> point_found=<span class="keyword">false</span>;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordflow">if</span>(obstaclesMap((<span class="keywordtype">int</span>)WayPoint.x,(<span class="keywordtype">int</span>)WayPoint.y)&gt;0) {</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">while</span>(!point_found)</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">double</span> rad =-M_PI ;rad&lt;=M_PI;rad+=M_PI_4){</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            new_x = cos(rad)*length+WayPoint.x;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            new_y = sin(rad)*length+WayPoint.y;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            <span class="keywordflow">if</span>(obstaclesMap((<span class="keywordtype">int</span>)new_x,(<span class="keywordtype">int</span>)new_y)&lt;0){</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                point_found=<span class="keyword">true</span>;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                current_route._target_Pos.x=new_x;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                current_route._target_Pos.y=new_y;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;-------------Warning---------------\r\n Target temporarily changed due to target collision.\r\nNew Target is  x:%f ,y%f&quot;</span>,new_x,new_y);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            }</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        }</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        length+=0.4;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordflow">else</span>{</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        current_route._target_Pos.x=<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;target_pos_x;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        current_route._target_Pos.y=<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;target_pos_y;       </div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    }</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordflow">return</span> !point_found;    <span class="comment">//找到了新的点，返回 目标已变化，返回目标未变化 </span></div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;}</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;CONNECT_RRT::RRT_STATE_C CONNECT_RRT::minimumsnap_calc(</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  </div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                             copter_local_pos_att_t attpos</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                            ,WPS &amp;path_input</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                            ,WPS &amp;path_output</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                            )</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;{</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    WPS ret_wp;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    minimumsnap_srv-&gt;request.waypointsx.clear();</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    minimumsnap_srv-&gt;request.waypointsy.clear();</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    minimumsnap_srv-&gt;request.waypointsz.clear();</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    minimumsnap_srv-&gt;request.waypointsid.clear();</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    minimumsnap_srv-&gt;request.startpva.clear();</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    minimumsnap_srv-&gt;request.endpva.clear();</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;path_input.size();i++)</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        minimumsnap_srv-&gt;request.waypointsx.push_back(path_input[i].x);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        minimumsnap_srv-&gt;request.waypointsy.push_back(path_input[i].y);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        minimumsnap_srv-&gt;request.waypointsz.push_back(path_input[i].z);</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        minimumsnap_srv-&gt;request.waypointsid.push_back(0);</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    }</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    {</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//px</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//py</span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//pz</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//vx</span></div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//vy</span></div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//vz</span></div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//ax</span></div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//ay</span></div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        minimumsnap_srv-&gt;request.startpva.push_back(0);<span class="comment">//az</span></div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//px</span></div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//py</span></div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//pz</span></div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//vx</span></div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//vy</span></div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//vz</span></div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//ax</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//ay</span></div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        minimumsnap_srv-&gt;request.endpva.push_back(0);<span class="comment">//az</span></div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    }</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="keywordflow">if</span>(minimumsnap_client-&gt;call(*minimumsnap_srv))</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    {</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">if</span>(minimumsnap_srv-&gt;response.success==<span class="keyword">true</span>){</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            minimumsnap_srv-&gt;response.ret_coefficients;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            minimumsnap_srv-&gt;response.ret_n_poly;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            minimumsnap_srv-&gt;response.ret_n_order;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            <span class="keywordflow">for</span>(uint32_t i=0;i&lt;minimumsnap_srv-&gt;response.ret_wpx.size();i++){</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                ret_wp.push_back(</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                    WP(</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                        minimumsnap_srv-&gt;response.ret_wpx[i]</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                        ,minimumsnap_srv-&gt;response.ret_wpy[i]</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                        ,minimumsnap_srv-&gt;response.ret_wpz[i]</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                    )   </div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                );</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            }</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            path_output=ret_wp;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;            <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_SUCCESS;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        }</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;            std::stringstream ss;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;            ss&lt;&lt;minimumsnap_srv-&gt;response.wrong_code;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;            <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Calc service wrong.Details:%s.&quot;</span>,ss.str().c_str());</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;            <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_FAILED;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        }</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    }</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordflow">else</span>{</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Calc service wrong. Details:Time out.&quot;</span>);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_SRV_TIME_OUT_FAILED;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    }</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;}</div><div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="class_l_o_g.html">  341</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_l_o_g.html">LOG</a>{</div><div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="class_l_o_g.html#a5a33fa815099d18217635aa1e20beb89">  342</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_l_o_g.html#a5a33fa815099d18217635aa1e20beb89">to_log</a>(){</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        std::ofstream outputfile;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        outputfile.open(file_path.str().c_str(),ios::app);</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        outputfile.setf(std::ios::fixed);</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        outputfile.precision(10);</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        outputfile&lt;&lt;data.str();</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        outputfile.close();</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    }</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;</div><div class="line"><a name="l00351"></a><span class="lineno"><a class="line" href="class_l_o_g.html#a368f1364b676a91b83ec5f52867059e4">  351</a></span>&#160;    std::stringstream <a class="code" href="class_l_o_g.html#a368f1364b676a91b83ec5f52867059e4">file_path</a>;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> title()=0;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="class_l_o_g.html#a18bb1b099fcf83954e9036a228c84f70">  354</a></span>&#160;    std::stringstream <a class="code" href="class_l_o_g.html#a18bb1b099fcf83954e9036a228c84f70">data</a>;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;</div><div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="class_l_o_g.html#a532a61e14c7064cde0e4b060eedf4611">  356</a></span>&#160;    <a class="code" href="class_l_o_g.html#a532a61e14c7064cde0e4b060eedf4611">LOG</a>(std::string file = <span class="stringliteral">&quot;calc_time_log&quot;</span>){</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="keyword">static</span> std::stringstream init_time;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        std::time_t today_time = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        init_time&lt;&lt; std::ctime(&amp;today_time);</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;<span class="stringliteral">&quot;calc_time_log&quot;</span>;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        mkdir(file_path.str().c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        fstream _file;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        file_path&lt;&lt;<span class="stringliteral">&quot;/calc_time_log.csv&quot;</span>;  </div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        data.setf(std::ios::fixed);</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        data.precision(10);</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    }</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="class_l_o_g.html#afeed32550a98756294ce0fa0f0adaa30">  368</a></span>&#160;    <a class="code" href="class_l_o_g.html">LOG</a> &amp;operator&lt;&lt; (T value){</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        </div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        data&lt;&lt;value&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    }</div><div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="class_l_o_g.html#a015f6e62749fedaf5b5b6203e0ed66fd">  373</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_l_o_g.html#a015f6e62749fedaf5b5b6203e0ed66fd">end</a>(){</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        data&lt;&lt;<span class="stringliteral">&quot;\r\n&quot;</span>;</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        to_log();</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    }</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;};</div><div class="line"><a name="l00378"></a><span class="lineno"><a class="line" href="class_c_a_l_c___t_i_m_e___l_o_g.html">  378</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_c_a_l_c___t_i_m_e___l_o_g.html">CALC_TIME_LOG</a>:<span class="keyword">public</span> <a class="code" href="class_l_o_g.html">LOG</a>{</div><div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="class_c_a_l_c___t_i_m_e___l_o_g.html#a7c51acbcd7f35857b9dca6cdb69653ff">  379</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_c_a_l_c___t_i_m_e___l_o_g.html#a7c51acbcd7f35857b9dca6cdb69653ff">title</a>(){</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        (*this)&lt;&lt;<span class="stringliteral">&quot;起始位置x&quot;</span>&lt;&lt;<span class="stringliteral">&quot;起始位置y&quot;</span>&lt;&lt;<span class="stringliteral">&quot;结束位置x&quot;</span>&lt;&lt;<span class="stringliteral">&quot;结束位置y&quot;</span>;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        (*this)&lt;&lt;<span class="stringliteral">&quot;RRT 开始时间&quot;</span>&lt;&lt;<span class="stringliteral">&quot;RRT 结束时间&quot;</span>&lt;&lt;<span class="stringliteral">&quot;总迭代次数&quot;</span>;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        (*this)&lt;&lt;<span class="stringliteral">&quot;是否找到RRT路径&quot;</span>;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        (*this)&lt;&lt;<span class="stringliteral">&quot;树1大小&quot;</span>&lt;&lt;<span class="stringliteral">&quot;树2大小&quot;</span>&lt;&lt;<span class="stringliteral">&quot;简化后尺寸&quot;</span>&lt;&lt;<span class="stringliteral">&quot;路径长度&quot;</span>;</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        (*this) &lt;&lt; <span class="stringliteral">&quot;MS开始时间&quot;</span> &lt;&lt; <span class="stringliteral">&quot;MS结束时间&quot;</span>;</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        (this-&gt;data)&lt;&lt;<span class="stringliteral">&quot;\r\n&quot;</span>;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    }</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="class_c_a_l_c___t_i_m_e___l_o_g.html#ab2d534be3ea8b72936ccf805f738cd25">  388</a></span>&#160;    <a class="code" href="class_c_a_l_c___t_i_m_e___l_o_g.html#ab2d534be3ea8b72936ccf805f738cd25">CALC_TIME_LOG</a>()</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    {</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        title();</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    }</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;};</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;WPS CONNECT_RRT::get_RRT_Path(Tree_t RRTtree){</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    WPS path;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="keywordtype">int</span> last_idx = RRTtree.path_end_idx;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">while</span>(last_idx&gt;-1){</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        path.push_back(RRTtree[last_idx]);</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        last_idx=RRTtree[last_idx].father_index;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    }</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordflow">return</span> path;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;}</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;WPS CONNECT_RRT::combine_two_rrt_path(Tree_t RRTtree1,Tree_t RRTtree2){</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    WPS path;</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    WPS path1=get_RRT_Path(RRTtree1);</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    WPS path2=get_RRT_Path(RRTtree2);</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = path1.size()-1;i&gt;=0;i--){<span class="comment">//树1 正向添加</span></div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        path.push_back(path1[i]);</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    }</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0;i&lt;path2.size();i++){<span class="comment">//树2 反向添加</span></div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        path.push_back(path2[i]);</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    } </div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="keywordflow">return</span> path;</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;}</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;CONNECT_RRT::RRT_STATE_C CONNECT_RRT::plan(</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;                                 copter_local_pos_att_t att_pos_copy      </div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;                                ,OBSTACLE_GRID_MAP &amp;obstaclesMap</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                                ,FLY_PLAN_T &amp;current_route</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;                                ,cv::Mat &amp;Path</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;                                ,std::vector&lt;Tree_t&gt; &amp;get_trees</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;                                ){</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keyword">auto</span> attpos = att_pos_copy;</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    cv::Mat tmp(obstaclesMap.map.rows(),obstaclesMap.map.cols(),CV_8UC1);</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <a class="code" href="class_c_a_l_c___t_i_m_e___l_o_g.html">CALC_TIME_LOG</a> log;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        cv::eigen2cv(obstaclesMap.map,tmp);</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        tmp.convertTo(tmp,CV_8UC3);</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    }</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    Mat img =tmp;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        cvtColor(tmp, img, CV_GRAY2BGR);</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    }</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    TreeNode_t start(WP(attpos.pos_x,attpos.pos_y,attpos.pos_z),0,-1,-1);</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    TreeNode_t target(WP(current_route._target_Pos.x,current_route._target_Pos.y,current_route._target_Pos.z),0,-2,-2);</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        lineimg(img,start,target,obstaclesMap,Scalar(255, 90, 90));</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        circleimg(img,start,obstaclesMap,Scalar(0,255,0));</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        circleimg(img,WP(attpos.pos_x,attpos.pos_y,0),obstaclesMap,Scalar(0,255,255));</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        circleimg(img,target,obstaclesMap,Scalar(0,0,255));</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    }</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    </div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    log&lt;&lt;start.x&lt;&lt;start.y&lt;&lt;target.x&lt;&lt;target.y;</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;\r\n RRT Mission Started.\r\nstart x:%f,y:%f, end x:%f,y:%f.&quot;</span>,start.x,start.y,target.x,target.y);</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    Tree_t RRTtree_1(start,<span class="stringliteral">&quot;start&quot;</span>),RRTtree_2(target,<span class="stringliteral">&quot;target&quot;</span>);</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    set_direct();</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="keywordtype">bool</span> find_path=<span class="keyword">false</span>;   <span class="keywordtype">int</span> iter=0;  </div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    std::stringstream ss;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map)</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    {</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        cv::Mat tmp;</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        cv::flip(img,tmp,0);</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        cv::imshow(<span class="stringliteral">&quot;Path_map&quot;</span>,tmp);</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    }</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    uint64_t iter_cnt=0;</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    std::stringstream start_time ;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    ros::WallTime start_time_mark = ros::WallTime::now();</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    start_time &lt;&lt; start_time_mark.toSec();</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="keywordflow">while</span>(iter&lt;_p-&gt;rrt_one_step_max_iterations)</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    {</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        <span class="keywordflow">if</span>(ros::WallTime::now()-start_time_mark&gt;ros::WallDuration(1.2)){</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;            log.end();</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;            <span class="keywordflow">return</span> RRT_STATE_C::RRT_FAILED;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        }</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        iter_cnt++;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        <span class="comment">// rout(&quot;dddd&quot;);</span></div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        TreeNode_t newPoint_Tree_1,newPoint_Tree_2;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        <span class="keywordflow">if</span>(check_if_rrt_status()){</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            get_sampling_points(newPoint_Tree_1,start,target);</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            set_direct();</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        }</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            <span class="keywordflow">if</span>(RRTtree_1(0,<span class="stringliteral">&quot;father_index&quot;</span>)==-1){</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                newPoint_Tree_1 = TreeNode_t(target);</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;            }</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            <span class="keywordflow">else</span>{</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;                newPoint_Tree_1 = TreeNode_t(start); </div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;            }</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        }</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordtype">bool</span> RRT1_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        TreeNode_t cloest_point = get_nearst_point(RRTtree_1,newPoint_Tree_1,target);</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <span class="keywordtype">double</span> rad = calc_grow_theta(cloest_point,newPoint_Tree_1);</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        newPoint_Tree_1 = extend_a_step(cloest_point,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_step_size,rad);</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        </div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        <span class="keywordflow">if</span>(!check_if_path_ok(cloest_point,newPoint_Tree_1,obstaclesMap)){</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;            iter++;</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;            set_rrt();</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            RRT1_Extend_Success=<span class="keyword">false</span>;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            RRT1_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        }</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;        newPoint_Tree_2=newPoint_Tree_1;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        <span class="keywordtype">bool</span> RRT2_Extend_Success=<span class="keyword">false</span>;</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        tapimg(img,target,obstaclesMap);</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <span class="keywordflow">if</span> (RRT1_Extend_Success==<span class="keyword">true</span>){<span class="comment">//如果第一个点路径检查通过，那么尝试添加第二个点</span></div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;            <span class="keywordflow">if</span>(check_if_new_point_too_close_to_other_points(RRTtree_1,newPoint_Tree_1,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_too_close_size,cloest_point.index)){</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;                iter++;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;                <span class="keywordflow">continue</span>; <span class="comment">//如果第一个点就没有添加成功，那就重新采样</span></div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;            }</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;            RRTtree_1(cloest_point,newPoint_Tree_1);<span class="comment">//树1添加第一个点</span></div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;            <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;                tapimg(img,newPoint_Tree_1,obstaclesMap);</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;            }</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;            TreeNode_t cloest_point = get_nearst_point(RRTtree_2,newPoint_Tree_2,target);</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;            <span class="keywordtype">double</span> rad = calc_grow_theta(cloest_point,newPoint_Tree_2);</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;            newPoint_Tree_2 = extend_a_step(cloest_point,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_step_size,rad);</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;            <span class="keywordflow">if</span>(!check_if_path_ok(cloest_point,newPoint_Tree_1,obstaclesMap)){</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;                iter++;RRT2_Extend_Success=<span class="keyword">false</span>;<span class="comment">//不直接跳出,用标志位是为了让第一个点能够正常添加</span></div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;            }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;                RRT2_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;            }</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;            <span class="keywordflow">if</span> (RRT2_Extend_Success==<span class="keyword">true</span>){ <span class="comment">//如果第二树节点障碍检测通过，那么检测是否过近</span></div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;                <span class="keywordflow">if</span>(check_if_new_point_too_close_to_other_points(RRTtree_2,newPoint_Tree_2,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_too_close_size,cloest_point.index)){</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;                    RRT2_Extend_Success=<span class="keyword">false</span>;</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;                }<span class="keywordflow">else</span>{<span class="comment">//如果没有过近，那么添加新的树二点</span></div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;                    RRTtree_2(cloest_point,newPoint_Tree_2);</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;                    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;                        tapimg(img,newPoint_Tree_2,obstaclesMap);</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;                    }   </div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;                    RRT2_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;                }</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;            }</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;            <span class="keywordflow">if</span>(RRT2_Extend_Success==<span class="keyword">true</span>){</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;                TreeNode_t cloest_point_in_tree_1 = get_nearst_point(RRTtree_1,newPoint_Tree_2);</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                <span class="comment">//判断两棵树是否相连了</span></div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;                <span class="keywordflow">if</span>(check_if_reached_goal(cloest_point_in_tree_1,newPoint_Tree_2,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_reach_goal_thresh)){</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;                    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;%f %f&quot;</span>,cloest_point_in_tree_1.x,cloest_point_in_tree_1.y);</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;                    RRTtree_1.set_path_end(cloest_point_in_tree_1);</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;                    RRTtree_2.set_path_end(RRTtree_2.size()-1);</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                    find_path=<span class="keyword">true</span>;</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;                }</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;            }</div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        }       </div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        <span class="keywordflow">if</span>(RRTtree_1.size()&gt;=RRTtree_2.size()){</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;            RRTtree_1.swap(RRTtree_2);</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        }</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;        iter=0;</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    }</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    std::stringstream end_time ;</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    end_time.setf(std::ios::fixed);</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    end_time.precision(10);</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    end_time &lt;&lt; ros::WallTime::now().toSec();</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRT start time %s,end time:%s.Iteration :%d&quot;</span>,start_time.str().c_str(),end_time.str().c_str(),iter_cnt);</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    log&lt;&lt;start_time.str()&lt;&lt;end_time.str()&lt;&lt;iter_cnt;</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    log&lt;&lt;find_path;</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    get_trees.push_back(RRTtree_1);</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    get_trees.push_back(RRTtree_2);</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="keywordflow">if</span>(find_path==<span class="keyword">true</span>){</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;        std::stringstream ss;</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;        ss.setf(std::ios::fixed);</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;        ss.precision(10);</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;        ss&lt;&lt;<span class="stringliteral">&quot;finished size&quot;</span>&lt;&lt;RRTtree_1.size()+RRTtree_2.size()&lt;&lt;<span class="stringliteral">&quot;\r\n&quot;</span>;</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;        log&lt;&lt;RRTtree_1.size()&lt;&lt;RRTtree_2.size();</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;        WPS path=combine_two_rrt_path(RRTtree_1,RRTtree_2);</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;        <span class="keyword">auto</span> simplified_path = path;</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;        {</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;            ss&lt;&lt;<span class="stringliteral">&quot;total finished size&quot;</span>&lt;&lt;path.size()&lt;&lt;<span class="stringliteral">&quot;\r\n&quot;</span>;</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;            log&lt;&lt;path.size();</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;        }</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        simplify_rrt_trees(simplified_path,obstaclesMap);</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;        {</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;            log&lt;&lt;simplified_path.size();</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;            ss&lt;&lt;<span class="stringliteral">&quot;Path simplified to:&quot;</span>&lt;&lt;simplified_path.size();</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;            <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;%s&quot;</span>,ss.str().c_str());</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;        }</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;        WPS ret_wps=simplified_path;</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;minimumsnap_en){</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;            <span class="keywordflow">if</span>(simplified_path.size()&gt;2){</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;                <span class="keywordtype">double</span> start_time = ros::WallTime::now().toSec();</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;                <span class="keywordflow">switch</span>(minimumsnap_calc(attpos</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;                                            ,simplified_path</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;                                            ,ret_wps))</div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;                {</div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;                    <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_SUCCESS:</div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;                        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;                    <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_FAILED:</div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;                        <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_FAILED;</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;                    <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_SRV_TIME_OUT_FAILED:</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;                        <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_SRV_TIME_OUT_FAILED;</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;                }</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;                <span class="keywordtype">double</span> end_time = ros::WallTime::now().toSec();</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;                <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;MinimumSnap start time %f,end time:%f.&quot;</span>,start_time,end_time);</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;                log&lt;&lt;start_time&lt;&lt;end_time;</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;            }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;                ret_wps.clear();</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;                ret_wps.push_back(start);</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ; i &lt;40;i++){</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;                    ret_wps.push_back(WP(start.x+i*(target.x-start.x)/40.,start.y+i*(target.y-start.y)/40.,start.z+i*(target.z-start.z)/40.));</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;                }</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;                ret_wps.push_back(target);</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;            }</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;        }</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;        current_route.wps=ret_wps;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;ret_wps.size()-1;i++){</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;                lineimg(img,ret_wps[i],ret_wps[i+1],obstaclesMap);</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;                route_vis-&gt;push_to_rviz(ret_wps);</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                rrt_vis-&gt;push_to_rviz(RRTtree_1);</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;                rrt_vis2-&gt;push_to_rviz(RRTtree_2);</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;            }</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        }</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;        log.end();</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    }</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="keywordflow">else</span>{</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;no found&quot;</span>);</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;        log.end();</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;        <span class="keywordflow">return</span> RRT_STATE_C::RRT_FAILED;</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    }</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;        cv::flip(img,img,0);</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;        Path = img;</div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;        cv::imshow(<span class="stringliteral">&quot;Path_map&quot;</span>,img);</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        cv::waitKey(1);</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    }</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    <span class="keywordflow">return</span> RRT_STATE_C::FOUND_AVALIABLE_PATH;</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;}</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;CONNECT_RRT::Tree_t CONNECT_RRT::rrt_to_point(Tree_t RRTtree,TreeNode_t target,OBSTACLE_GRID_MAP &amp;obstaclesMap){</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    uint32_t iter_cnt=0;</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    uint32_t iter=0;</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <span class="keyword">auto</span> start = RRTtree.get_root_node();</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    </div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    <span class="keywordflow">if</span>(check_if_reached_goal(get_nearst_point(RRTtree,target),target,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_reach_goal_thresh*2)){</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;SKIP RRT TO POINT&quot;</span>);</div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;        <span class="keywordflow">return</span> RRTtree;</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    }</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    <span class="keywordflow">while</span>(iter&lt;_p-&gt;rrt_one_step_max_iterations)</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    {</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        iter_cnt++;</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;        TreeNode_t newPoint_Tree;</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        <span class="keywordflow">if</span>(check_if_rrt_status()){</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;            get_sampling_points(RRTtree[RRTtree.get_root_index()],start,target);</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;            set_direct();</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;        }</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;            newPoint_Tree = TreeNode_t(target); </div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        }</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;        TreeNode_t cloest_point = get_nearst_point(RRTtree,newPoint_Tree,target);</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;        <span class="keywordtype">double</span> rad = calc_grow_theta(cloest_point,newPoint_Tree);</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;</div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        newPoint_Tree = extend_a_step(cloest_point,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_step_size,rad);</div><div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;        </div><div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        <span class="keywordflow">if</span>(!check_if_path_ok(cloest_point,newPoint_Tree,obstaclesMap)){</div><div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;            iter++;</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;            set_rrt();</div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;        }</div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;        <span class="keywordflow">if</span>(check_if_new_point_too_close_to_other_points(RRTtree,newPoint_Tree,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_too_close_size,cloest_point.index)){</div><div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;            iter++;</div><div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;            <span class="keywordflow">continue</span>; <span class="comment">//如果第一个点就没有添加成功，那就重新采样</span></div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;        }</div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;        RRTtree(cloest_point,newPoint_Tree);<span class="comment">//树1添加一个点</span></div><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;        <span class="comment">//判断是否添加成功</span></div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;        <span class="keywordflow">if</span>(check_if_reached_goal(newPoint_Tree,target,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_reach_goal_thresh)){</div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;            <span class="keywordflow">if</span>(check_if_path_ok(target,newPoint_Tree,obstaclesMap)){</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;                <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRTtree %d x:%f y:%f&quot;</span>,RRTtree.get_root_index(),newPoint_Tree.x,newPoint_Tree.y);</div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;                RRTtree.set_path_end(newPoint_Tree);</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;            }</div><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;        }</div><div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;        iter=0;</div><div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    }</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;    <span class="keywordflow">return</span> RRTtree;</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;}</div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;</div><div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;std::vector&lt;int&gt; CONNECT_RRT::find_all_son_index(Tree_t RRTtree,<span class="keywordtype">int</span> start_index,std::vector&lt;int&gt;list,<span class="keywordtype">bool</span> *finded_mask){</div><div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;</div><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0;i&lt;RRTtree.size();i++){ <span class="comment">//遍历</span></div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;        <span class="keywordflow">if</span>(finded_mask[i]) <span class="keywordflow">continue</span>;<span class="comment">//如已查过则跳过，这是为了避免多次检查，可能存在重复的工作</span></div><div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;        <span class="keywordflow">if</span>(RRTtree[i].father_index==start_index){ <span class="comment">//如果该树的父节点为起始节点</span></div><div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;            list.push_back(i);    <span class="comment">//往list中添加</span></div><div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;            finded_mask[i]=<span class="keyword">true</span>;  <span class="comment">//标记为已经查过</span></div><div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;            <span class="comment">// rout(&quot;f.2%d   %d&quot;,i,RRTtree[i].father_index);</span></div><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;            list= find_all_son_index(RRTtree,i,list,finded_mask);<span class="comment">//递归</span></div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;        }</div><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    }</div><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;    <span class="comment">// rout(&quot;f.3&quot;);</span></div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;    <span class="keywordflow">return</span> list;</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;}</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;</div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;</div><div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;CONNECT_RRT::Tree_t CONNECT_RRT::trim_tree(Tree_t RRTtree,OBSTACLE_GRID_MAP &amp;obstaclesMap){</div><div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;</div><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;    </div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;    <span class="keywordtype">int</span> *change_of_tree_index = <span class="keyword">new</span> <span class="keywordtype">int</span>[RRTtree.size()]();</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    std::vector&lt;int&gt; output_list;</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    <span class="comment">// rout(&quot;trim 1&quot;);</span></div><div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;RRTtree.size();i++){</div><div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;        <span class="keywordflow">if</span>(i!=RRTtree.get_root_index()&amp;&amp;RRTtree[i].father_index&gt;-1){</div><div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;            <span class="keywordflow">if</span>(!check_if_path_ok(RRTtree[i],RRTtree[RRTtree[i].father_index],obstaclesMap)){</div><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;                std::vector&lt;int&gt; tmp_list;</div><div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;                <span class="keywordtype">bool</span> *finded_mask = <span class="keyword">new</span> <span class="keywordtype">bool</span>[RRTtree.size()]();</div><div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;                tmp_list=find_all_son_index(RRTtree,i,tmp_list,finded_mask);</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;                <span class="comment">//rout(&quot;tmp_list_size %d&quot;,tmp_list.size());</span></div><div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;                <span class="keyword">delete</span> [] finded_mask;</div><div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;                <span class="keywordflow">if</span>(!tmp_list.empty()) {</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;                    output_list.insert(output_list.end(),tmp_list.begin(),tmp_list.end());<span class="comment">//列表合并</span></div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;                    sort(output_list.begin(),output_list.end());<span class="comment">//列表排序</span></div><div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;                    output_list.erase(unique(output_list.begin(),output_list.end()),output_list.end());<span class="comment">//列表去重，去重前必须排序</span></div><div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;                }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;                    <span class="comment">// rout(&quot;empty List&quot;);</span></div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;                }</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;            }</div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;        }        </div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    }</div><div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;    <span class="comment">// rout(&quot;trim 2&quot;);</span></div><div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    <span class="keywordtype">int</span> tmp_value=0;</div><div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;</div><div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    <span class="keywordflow">for</span> (uint32_t i =0;i&lt;output_list.size();i++){  <span class="comment">//确定更新后的索引</span></div><div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;        <span class="comment">// rout(&quot;output_list:%d&quot;,output_list[i]);</span></div><div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j=0;j&lt;RRTtree.size();j++){</div><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;            <span class="keywordflow">if</span>(output_list[i]&lt;RRTtree[j].father_index){</div><div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;                change_of_tree_index[j]-=1;</div><div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;                <span class="comment">// rout(&quot;%d %d&quot;,j,change_of_tree_index[j]);</span></div><div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;            }</div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;        }</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;        <span class="keywordflow">if</span>(output_list[i]&lt;RRTtree.get_root_index()){</div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;             tmp_value--;</div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;        }</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;        <span class="comment">//rout(&quot;%s tmp_value%d   %d  %d&quot;,RRTtree.name.c_str(),output_list[i],tmp_value,RRTtree.get_root_index());</span></div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    }</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160; </div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    <span class="comment">//rout(&quot;current root index %d&quot;,RRTtree.get_root_index());</span></div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    RRTtree.set_root_index(RRTtree.get_root_index()+tmp_value);</div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;RRTtree.size();i++){  <span class="comment">//更新所有的索引到新的索引上</span></div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;        <span class="keywordflow">if</span>(change_of_tree_index[i]!=0){</div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;            RRTtree[i].father_index+=change_of_tree_index[i];</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;        }</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;    }</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    <span class="comment">//rout(&quot;new root index %d&quot;,RRTtree.get_root_index());</span></div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;</div><div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    <span class="comment">// rout(&quot;trim 4&quot;);</span></div><div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    </div><div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;    <span class="keywordflow">for</span>(uint32_t i = 0;i&lt;output_list.size();i++){<span class="comment">//删除指定位置元素;</span></div><div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;        std::vector&lt;TreeNode_t&gt;::iterator it = RRTtree.begin()+output_list[i]-i; </div><div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;        RRTtree.erase(it);    </div><div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;    }</div><div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;    <span class="keywordflow">for</span> (uint32_t i=0;i&lt;RRTtree.size();i++){  <span class="comment">//更新所有的索引到新的索引上</span></div><div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;        RRTtree[i].index=i;</div><div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;        <span class="comment">//rout(&quot;RRTtree[i].index=%d&quot;,RRTtree[i].index);</span></div><div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;    }</div><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;    <span class="comment">// rout(&quot;trim 5&quot;);</span></div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;</div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;    <span class="keyword">delete</span> []change_of_tree_index; <span class="comment">//释放临时变量</span></div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;    <span class="keywordflow">return</span> RRTtree; <span class="comment">//返回</span></div><div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;}</div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;</div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;CONNECT_RRT::RRT_STATE_C CONNECT_RRT::plan_online(</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;                                 copter_local_pos_att_t att_pos_copy      </div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;                                ,OBSTACLE_GRID_MAP &amp;obstaclesMap</div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;                                ,FLY_PLAN_T &amp;current_route</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;                                ,cv::Mat &amp;Path</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;                                ,std::vector&lt;Tree_t&gt; &amp;get_trees</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;                                ,std::vector&lt;WPS&gt; &amp;save_route</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;                                ){</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    <span class="keyword">auto</span> attpos = att_pos_copy;</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    cv::Mat tmp(obstaclesMap.map.rows(),obstaclesMap.map.cols(),CV_8UC1);</div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    <a class="code" href="class_c_a_l_c___t_i_m_e___l_o_g.html">CALC_TIME_LOG</a> log;</div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        cv::eigen2cv(obstaclesMap.map,tmp);</div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        tmp.convertTo(tmp,CV_8UC3);</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;    }</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    Mat img =tmp;</div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        cvtColor(tmp, img, CV_GRAY2BGR);</div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;    }</div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;    TreeNode_t start(WP(attpos.pos_x,attpos.pos_y,attpos.pos_z),0,-1,-1);</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;    TreeNode_t target(WP(current_route._target_Pos.x,current_route._target_Pos.y,current_route._target_Pos.z),0,-1,-1);</div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        lineimg(img,start,target,obstaclesMap,Scalar(255, 90, 90));</div><div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        circleimg(img,start,obstaclesMap,Scalar(0,255,0));</div><div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        circleimg(img,WP(attpos.pos_x,attpos.pos_y,0),obstaclesMap,Scalar(0,255,255));</div><div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;        circleimg(img,target,obstaclesMap,Scalar(0,0,255));</div><div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    }</div><div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    </div><div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;    log&lt;&lt;start.x&lt;&lt;start.y&lt;&lt;target.x&lt;&lt;target.y;</div><div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;</div><div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRT Mission Started&quot;</span>);</div><div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;start x:%.6f,y:%.6f, end x:%.6f,y:%.6f.&quot;</span>,start.x,start.y,target.x,target.y);</div><div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;</div><div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    Tree_t RRTtree_1(start,<span class="stringliteral">&quot;start&quot;</span>),RRTtree_2(target,<span class="stringliteral">&quot;target&quot;</span>);</div><div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;</div><div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;    set_direct();</div><div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;    <span class="keywordtype">bool</span> find_path=<span class="keyword">false</span>;   <span class="keywordtype">int</span> iter=0;    <span class="keyword">auto</span> grid_size = obstaclesMap.grid_size;</div><div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;    std::stringstream ss;</div><div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map)</div><div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;    {</div><div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;        cv::Mat tmp;</div><div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;        cv::flip(img,tmp,0);</div><div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;        cv::imshow(<span class="stringliteral">&quot;Path_map&quot;</span>,tmp);</div><div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    }</div><div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160; </div><div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;    uint64_t iter_cnt=0;</div><div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    std::stringstream start_time;</div><div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;    start_time.setf(std::ios::fixed);</div><div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;    start_time.precision(10);</div><div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;    <span class="keyword">static</span> Tree_t RRTtree_1_Last,RRTtree_2_Last;</div><div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;    ros::WallTime start_time_mark = ros::WallTime::now();</div><div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;    start_time &lt;&lt; start_time_mark.toSec();</div><div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;</div><div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;    <span class="comment">//计算树和起始树和终点树的距离</span></div><div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;    <span class="keywordflow">if</span>(RRTtree_1_Last.size()!=0&amp;&amp;RRTtree_2_Last.size()!=0) {</div><div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;        <span class="keywordtype">double</span> s_2_t_1 = calc_dist(get_nearst_point(RRTtree_1_Last,start),start);</div><div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;        <span class="keywordtype">double</span> s_2_t_2 = calc_dist(get_nearst_point(RRTtree_2_Last,start),start);</div><div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;        <span class="keywordflow">if</span>(s_2_t_1&lt;s_2_t_2)</div><div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;        {</div><div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;            RRTtree_1=rrt_to_point(RRTtree_1_Last,start,obstaclesMap);</div><div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;            <span class="keywordtype">int</span> idx_1 = get_nearst_point_index(RRTtree_1,start);</div><div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;            RRTtree_1.reorder(idx_1);<span class="comment">//重排列</span></div><div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;            <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;tree1 reorder to %d&quot;</span>,idx_1);</div><div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;            RRTtree_1=trim_tree(RRTtree_1,obstaclesMap);<span class="comment">//修剪</span></div><div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;</div><div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;</div><div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;            RRTtree_2=rrt_to_point(RRTtree_2_Last,target,obstaclesMap);</div><div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;            <span class="keywordtype">int</span> idx_2 = get_nearst_point_index(RRTtree_2,target);</div><div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;            RRTtree_2.reorder(idx_2);<span class="comment">//</span></div><div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;            RRTtree_2=trim_tree(RRTtree_2,obstaclesMap);</div><div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;</div><div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;            <span class="comment">// rout(&quot;tree2 reorder to %d&quot;,idx_2);</span></div><div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;            <span class="comment">// rout(&quot;%d %d&quot;,RRTtree_1.size(),RRTtree_2.size());</span></div><div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;        </div><div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;        }</div><div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;        <span class="comment">//距离树一较远</span></div><div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        <span class="keywordflow">if</span>(s_2_t_1&gt;s_2_t_2){<span class="comment">//ro</span></div><div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;            <span class="comment">// rout(&quot;far tree1 &quot;);</span></div><div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;            RRTtree_2=rrt_to_point(RRTtree_2_Last,target,obstaclesMap);</div><div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;            <span class="keywordtype">int</span> idx_2 = get_nearst_point_index(RRTtree_2,target);</div><div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;            RRTtree_2.reorder(idx_2);<span class="comment">//</span></div><div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;            RRTtree_2=trim_tree(RRTtree_2,obstaclesMap);</div><div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;</div><div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;        }</div><div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;    }</div><div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;    </div><div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;</div><div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;    <span class="keywordflow">while</span>(iter&lt;_p-&gt;rrt_one_step_max_iterations)</div><div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;    {</div><div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;        find_path=<span class="keyword">false</span>;</div><div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;        <span class="keywordflow">if</span>(ros::WallTime::now()-start_time_mark&gt;ros::WallDuration(2)){</div><div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;            log.end();</div><div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;            <span class="keywordflow">return</span> RRT_STATE_C::RRT_FAILED;</div><div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;        }</div><div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;        iter_cnt++;</div><div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;        TreeNode_t newPoint_Tree_1,newPoint_Tree_2;</div><div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;        <span class="keywordflow">if</span>(check_if_rrt_status()){</div><div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;            get_sampling_points(newPoint_Tree_1,start,target);</div><div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;            set_direct();</div><div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;        }</div><div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;            <span class="keywordflow">if</span>(RRTtree_1.name==<span class="stringliteral">&quot;start&quot;</span>){</div><div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;                newPoint_Tree_1 = TreeNode_t(target);</div><div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;            }</div><div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;            <span class="keywordflow">else</span>{</div><div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;                newPoint_Tree_1 = TreeNode_t(start); </div><div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;            }</div><div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;        }</div><div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;</div><div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;        <span class="keywordtype">bool</span> RRT1_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;        TreeNode_t cloest_point = get_nearst_point(RRTtree_1,newPoint_Tree_1,target);</div><div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;        <span class="keywordtype">double</span> rad = calc_grow_theta(cloest_point,newPoint_Tree_1);</div><div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;</div><div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;        newPoint_Tree_1 = extend_a_step(cloest_point,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_step_size,rad);</div><div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;        <span class="keywordflow">if</span>(!check_if_path_ok(cloest_point,newPoint_Tree_1,obstaclesMap)){</div><div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;            iter++;</div><div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;            set_rrt();</div><div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;            RRT1_Extend_Success=<span class="keyword">false</span>;</div><div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;        }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;            RRT1_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;        }</div><div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;</div><div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;        newPoint_Tree_2=newPoint_Tree_1;</div><div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;        <span class="keywordtype">bool</span> RRT2_Extend_Success=<span class="keyword">false</span>;</div><div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map)</div><div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;            tapimg(img,target,obstaclesMap);</div><div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;</div><div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;        <span class="keywordflow">if</span> (RRT1_Extend_Success==<span class="keyword">true</span>){<span class="comment">//如果第一个点路径检查通过，那么尝试添加第二个点</span></div><div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;</div><div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;            <span class="keywordflow">if</span>(check_if_new_point_too_close_to_other_points(RRTtree_1,newPoint_Tree_1,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_too_close_size,cloest_point.index)){</div><div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;                iter++;</div><div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;                <span class="keywordflow">continue</span>; <span class="comment">//如果第一个点就没有添加成功，那就重新采样</span></div><div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;            }</div><div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;</div><div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;            RRTtree_1(cloest_point,newPoint_Tree_1);<span class="comment">//树1添加第一个点</span></div><div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;            TreeNode_t cloest_point_in_tree_2 = get_nearst_point(RRTtree_2,newPoint_Tree_1);<span class="comment">//检测是否相连</span></div><div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;            <span class="keywordflow">if</span>(check_if_reached_goal(cloest_point_in_tree_2,newPoint_Tree_1,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_reach_goal_thresh)){</div><div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;        </div><div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;                <span class="keywordflow">if</span>(check_if_path_ok(cloest_point_in_tree_2,newPoint_Tree_1,obstaclesMap)){</div><div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;                    RRTtree_1.set_path_end(RRTtree_1.size()-1);</div><div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;                    RRTtree_2.set_path_end(cloest_point_in_tree_2);</div><div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;                    find_path=<span class="keyword">true</span>;</div><div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;                }</div><div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;            }</div><div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;            rrt_new_point_vis-&gt;push_to_rviz(WPS(newPoint_Tree_1));</div><div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;</div><div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;            <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;                tapimg(img,newPoint_Tree_1,obstaclesMap);</div><div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;            }</div><div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;            <span class="keywordtype">bool</span> tree_2_keep_add = <span class="keyword">true</span>;</div><div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;</div><div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;            <span class="keyword">auto</span> tree_2_target = newPoint_Tree_2;</div><div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;</div><div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;            <span class="keywordtype">bool</span> get_closest_point_one_time =<span class="keyword">false</span>;</div><div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;            TreeNode_t cloest_point ;</div><div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;            <span class="keywordflow">while</span>(tree_2_keep_add){</div><div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;                <span class="keywordflow">if</span>(!get_closest_point_one_time){</div><div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;                    cloest_point = get_nearst_point(RRTtree_2,newPoint_Tree_2,target);</div><div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;                    get_closest_point_one_time=<span class="keyword">true</span>;</div><div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;                }</div><div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;                <span class="keywordtype">double</span> rad = calc_grow_theta(cloest_point,tree_2_target);</div><div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;</div><div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;                newPoint_Tree_2 = extend_a_step(cloest_point,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_step_size,rad);</div><div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;</div><div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;                <span class="keywordflow">if</span>(!check_if_path_ok(cloest_point,newPoint_Tree_1,obstaclesMap)){</div><div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;                    iter++;RRT2_Extend_Success=<span class="keyword">false</span>;<span class="comment">//不直接跳出,用标志位是为了让第一个点能够正常添加</span></div><div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;                    tree_2_keep_add=<span class="keyword">false</span>;</div><div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;                }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;                    RRT2_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;                }</div><div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;                <span class="keywordflow">if</span> (RRT2_Extend_Success==<span class="keyword">true</span>){ <span class="comment">//如果第二树节点障碍检测通过，那么检测是否过近</span></div><div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;                    <span class="keywordflow">if</span>(check_if_new_point_too_close_to_other_points(RRTtree_2,newPoint_Tree_2,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_too_close_size,cloest_point.index)){</div><div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;                        RRT2_Extend_Success=<span class="keyword">false</span>;</div><div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;                        tree_2_keep_add=<span class="keyword">false</span>;</div><div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;                    }<span class="keywordflow">else</span>{<span class="comment">//如果没有过近，那么添加新的树二点</span></div><div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;                        RRTtree_2(cloest_point,newPoint_Tree_2);</div><div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;                        rrt_new_point_vis-&gt;push_to_rviz(WPS(newPoint_Tree_1));</div><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;                        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;                            tapimg(img,newPoint_Tree_2,obstaclesMap);</div><div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;                        }   </div><div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;                        RRT2_Extend_Success=<span class="keyword">true</span>;</div><div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;                        tree_2_keep_add=<span class="keyword">false</span>;</div><div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;                        TreeNode_t cloest_point_in_tree_1 = get_nearst_point(RRTtree_1,newPoint_Tree_2);</div><div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;                        <span class="comment">//判断两棵树是否相连了</span></div><div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;                        <span class="keywordflow">if</span>(check_if_reached_goal(cloest_point_in_tree_1,newPoint_Tree_2,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;rrt_reach_goal_thresh)){</div><div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;                            <span class="comment">// rout(&quot;%f %f&quot;,cloest_point_in_tree_1.x,cloest_point_in_tree_1.y);</span></div><div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;                            <span class="keywordflow">if</span>(check_if_path_ok(cloest_point_in_tree_1,newPoint_Tree_2,obstaclesMap)){</div><div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;                                RRTtree_1.set_path_end(cloest_point_in_tree_1);</div><div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;                                RRTtree_2.set_path_end(RRTtree_2.size()-1);</div><div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;                                tree_2_keep_add=<span class="keyword">false</span>;</div><div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;                                find_path=<span class="keyword">true</span>;</div><div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;                                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;                            }</div><div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;                        }  </div><div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;                        cloest_point= newPoint_Tree_2;</div><div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;                    }</div><div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;</div><div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;                }</div><div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;            }</div><div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;            <span class="keywordflow">if</span>(find_path) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;        }       </div><div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;        <span class="keywordflow">if</span>(RRTtree_1.size()&gt;=RRTtree_2.size()){</div><div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;            RRTtree_1.swap(RRTtree_2);</div><div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;        }</div><div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;        iter=0;</div><div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;    }</div><div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;    rrt_new_point_vis-&gt;clear();</div><div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;    std::stringstream end_time ;</div><div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;    end_time.setf(std::ios::fixed);</div><div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;    end_time.precision(10);</div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;    end_time &lt;&lt; ros::WallTime::now().toSec();</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;    <span class="keywordflow">if</span>(RRTtree_1.name!=<span class="stringliteral">&quot;start&quot;</span>){ <span class="comment">//保证tree1是起始树 tree2 是终点树</span></div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;        RRTtree_1.swap(RRTtree_2);</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;        <span class="comment">// rout(&quot;%s %s&quot;,RRTtree_1.name.c_str(),RRTtree_2.name.c_str());</span></div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;    }</div><div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    rrt_vis-&gt;push_to_rviz(RRTtree_1);</div><div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;    rrt_vis2-&gt;push_to_rviz(RRTtree_2);</div><div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRT start time %s,end time:%s.Iteration :%d&quot;</span>,start_time.str().c_str(),end_time.str().c_str(),iter_cnt);</div><div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRT1 root %d,end :%d,size %d&quot;</span>,RRTtree_1.get_root_index(),RRTtree_1.path_end_idx,RRTtree_1.size());</div><div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRT2 root %d,end :%d,size %d&quot;</span>,RRTtree_2.get_root_index(),RRTtree_2.path_end_idx,RRTtree_2.size());</div><div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;</div><div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;</div><div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;    RRTtree_1_Last = RRTtree_1;</div><div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;    RRTtree_2_Last = RRTtree_2;</div><div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;    log&lt;&lt;start_time.str()&lt;&lt;end_time.str()&lt;&lt;iter_cnt;</div><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;</div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;    log&lt;&lt;find_path;</div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;</div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;    get_trees.push_back(RRTtree_1);</div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;    get_trees.push_back(RRTtree_2);</div><div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;</div><div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;    <span class="keywordflow">if</span>(find_path==<span class="keyword">true</span>){</div><div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;</div><div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;        std::stringstream ss;</div><div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;</div><div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;        ss&lt;&lt;<span class="stringliteral">&quot;finished size&quot;</span>&lt;&lt;RRTtree_1.size()+RRTtree_2.size()&lt;&lt;<span class="stringliteral">&quot;\r\n&quot;</span>;</div><div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;        log&lt;&lt;RRTtree_1.size()&lt;&lt;RRTtree_2.size();</div><div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;</div><div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;        WPS path=combine_two_rrt_path(RRTtree_1,RRTtree_2);</div><div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;        </div><div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;        rrt_path_vis-&gt;push_to_rviz(path);</div><div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;</div><div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;        <span class="keyword">auto</span> simplified_path = path;</div><div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;        {</div><div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;            ss&lt;&lt;<span class="stringliteral">&quot;total finished size&quot;</span>&lt;&lt;path.size()&lt;&lt;<span class="stringliteral">&quot;\r\n&quot;</span>;</div><div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;            log&lt;&lt;path.size();</div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;        }</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;        simplify_rrt_trees(simplified_path,obstaclesMap);</div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;        simplified_vis-&gt;push_to_rviz(simplified_path);</div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;        save_route.push_back(simplified_path);</div><div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;        save_route.push_back(path);</div><div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;</div><div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;        {</div><div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;            log&lt;&lt;simplified_path.size();</div><div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;            ss&lt;&lt;<span class="stringliteral">&quot;Path simplified to:&quot;</span>&lt;&lt;simplified_path.size();</div><div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;            <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;%s&quot;</span>,ss.str().c_str());</div><div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        }</div><div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;        WPS ret_wps=simplified_path;</div><div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;        </div><div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;minimumsnap_en)</div><div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;        <span class="keywordflow">if</span>(simplified_path.size()&gt;2){</div><div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;            <span class="keywordtype">double</span> start_time = ros::WallTime::now().toSec();</div><div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;            <span class="keywordflow">switch</span>(minimumsnap_calc(attpos</div><div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;                                        ,simplified_path</div><div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;                                        ,ret_wps))</div><div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;            {</div><div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;                <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_SUCCESS:</div><div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;                <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_FAILED:</div><div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;                    <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_FAILED;</div><div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;                <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_SRV_TIME_OUT_FAILED:</div><div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;                    <span class="keywordflow">return</span> RRT_STATE_C::MINIMUMSNAP_SRV_TIME_OUT_FAILED;</div><div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;            }</div><div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;            <span class="keywordtype">double</span> end_time = ros::WallTime::now().toSec();</div><div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;            <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;MinimumSnap start time: %.10f,end time:%.10f.&quot;</span>,start_time,end_time);</div><div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;            log&lt;&lt;start_time&lt;&lt;end_time;</div><div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;        }<span class="keywordflow">else</span>{</div><div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;            ret_wps.clear();</div><div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;            ret_wps.push_back(start);</div><div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ; i &lt;40;i++){</div><div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;                ret_wps.push_back(WP(start.x+i*(target.x-start.x)/40.,start.y+i*(target.y-start.y)/40.,start.z+i*(target.z-start.z)/40.));</div><div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;            }</div><div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;            ret_wps.push_back(target);</div><div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;        }</div><div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;        current_route.wps=ret_wps;</div><div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;ret_wps.size()-1;i++){</div><div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;                lineimg(img,ret_wps[i],ret_wps[i+1],obstaclesMap);</div><div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;            }</div><div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;        }</div><div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;        route_vis-&gt;push_to_rviz(ret_wps);</div><div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;</div><div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;        log.end();</div><div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;    }</div><div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;    <span class="keywordflow">else</span>{</div><div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;no found&quot;</span>);</div><div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;        log.end();</div><div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;        <span class="keywordflow">return</span> RRT_STATE_C::RRT_FAILED;</div><div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;    }</div><div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_path_map){</div><div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;        cv::flip(img,img,0);</div><div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;        Path = img;</div><div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;        cv::imshow(<span class="stringliteral">&quot;Path_map&quot;</span>,img);</div><div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;        cv::waitKey(1);</div><div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;    }</div><div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;    <span class="keywordflow">return</span> RRT_STATE_C::FOUND_AVALIABLE_PATH;</div><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;}</div><div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;</div><div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;</div><div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;</div><div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;<span class="keywordtype">void</span> CONNECT_RRT::set_rrt(){</div><div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;    grow_status=GROW_STATUS::rrt;</div><div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;}</div><div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;</div><div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;<span class="keywordtype">void</span> CONNECT_RRT::set_direct(){</div><div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;    grow_status=GROW_STATUS::direct;</div><div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;}</div><div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;<span class="keywordtype">bool</span> CONNECT_RRT::check_if_rrt_status(){</div><div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;    <span class="keywordflow">if</span>(grow_status==GROW_STATUS::rrt){</div><div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;    }</div><div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;    <span class="keywordflow">else</span>{</div><div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;    }</div><div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;}</div><div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;<span class="keywordtype">void</span> CONNECT_RRT::get_sampling_points(TreeNode_t &amp;new_point,<span class="keyword">const</span> TreeNode_t start ,<span class="keyword">const</span> TreeNode_t end){</div><div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;</div><div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;    <span class="keywordtype">double</span> rand_num_x = (*rd)()%100000000/100000000.;</div><div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;    <span class="keywordtype">double</span> rand_num_y = (*rd)()%100000000/100000000.;</div><div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;</div><div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;    <span class="keywordtype">double</span> s =10;</div><div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;    <span class="keywordtype">double</span> xR=end.x&gt;start.x?end.x:start.x;</div><div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;    <span class="keywordtype">double</span> xL=end.x&gt;start.x?start.x:end.x;</div><div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;    <span class="keywordtype">double</span> yR=end.y&gt;start.y?end.y:start.y;</div><div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;    <span class="keywordtype">double</span> yL=end.y&gt;start.y?start.y:end.y;</div><div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;</div><div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;    <span class="keywordtype">double</span> x = rand_num_x*(xR-xL+2*s)+xL-s;</div><div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;    <span class="keywordtype">double</span> y = rand_num_y*(yR-yL+2*s)+yL-s;</div><div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;</div><div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;    new_point.x=x;</div><div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;    new_point.y=y;</div><div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;}</div><div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;</div><div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;<span class="keywordtype">void</span> CONNECT_RRT::get_sampling_points(TreeNode_t &amp;new_point){</div><div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;</div><div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;    <span class="keywordtype">double</span> rand_num_x = (*rd)()%100000000/100000000.;</div><div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;    <span class="keywordtype">double</span> rand_num_y = (*rd)()%100000000/100000000.;</div><div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;</div><div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;    <span class="keywordtype">double</span> rad = rand_num_x*(200)-100;</div><div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;    <span class="keywordtype">double</span> leng = rand_num_y*200-100;</div><div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;    </div><div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160;    <span class="keywordtype">double</span> x = rad;<span class="comment">//leng*sin(rad);</span></div><div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;    <span class="keywordtype">double</span> y = leng;<span class="comment">//leng*cos(rad);</span></div><div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;</div><div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160;    new_point.x=x;</div><div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;    new_point.y=y;</div><div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;}</div><div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;</div><div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;</div><div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;CONNECT_RRT::CONNECT_RRT(std::random_device *_rd_,std::mutex *_mtx_,Parameters *_p_,UNIVERSAL_STATE *_unity_,UAVCONTROL_INTERFACE *_mavlink_p_,PROBABILISTIC_MAP *_grid_map_):RRT_Base(_rd_,_mtx_,_p_,_unity_,_mavlink_p_,_grid_map_){</div><div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160;    </div><div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;    ros::NodeHandle nh;</div><div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;    minimumsnap_client = std::make_shared&lt;ros::ServiceClient&gt;(nh.serviceClient&lt;minimumsnap_route::service&gt;(<span class="stringliteral">&quot;minimumsnap_route/minimumsnap_calc_request&quot;</span>));</div><div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;    minimumsnap_srv = std::make_shared&lt;minimumsnap_route::service&gt;();</div><div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;    minimumsnap_srv-&gt;request.request=<span class="keyword">true</span>;</div><div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;    minimumsnap_srv-&gt;request.flyspeed=1.;</div><div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;    minimumsnap_srv-&gt;request.mode=<span class="stringliteral">&quot;normal&quot;</span>;</div><div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;</div><div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;    route_vis = route_vis-&gt;init(<span class="stringliteral">&quot;minimumsnap&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;line_strip&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;    route_vis-&gt;set_attribue(0.5,0,0.8);</div><div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;    rrt_vis = rrt_vis-&gt;init(<span class="stringliteral">&quot;rrt&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;point&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;    rrt_vis2 = rrt_vis2-&gt;init(<span class="stringliteral">&quot;rrt2&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;point&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;    rrt_vis-&gt;set_attribue(1,0.8,0);</div><div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;    rrt_vis2-&gt;set_attribue(139./255.,69./255.,19./255.);</div><div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;    land_mark_vis = land_mark_vis-&gt;init(<span class="stringliteral">&quot;land_mark&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;cylinder&quot;</span>,<span class="stringliteral">&quot;add&quot;</span>);</div><div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;    land_mark_vis-&gt;set_attribue(1,1,1,1,0.2,0.2,5);</div><div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;    check_radius_vis = check_radius_vis-&gt;init(<span class="stringliteral">&quot;check_radius_vis&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;cylinder&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;    check_radius_vis-&gt;set_attribue(0.5,0.5,0.5,0.2,8,8,3);</div><div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;</div><div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;    simplified_vis=simplified_vis-&gt;init(<span class="stringliteral">&quot;simplified_path&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;line_strip&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;    rrt_path_vis=rrt_path_vis-&gt;init(<span class="stringliteral">&quot;rrt_path&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;line_strip&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;    simplified_vis-&gt;set_attribue(0,0,1,0.5);</div><div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;    rrt_path_vis-&gt;set_attribue(255./255.,69./255.,19./255.,0.8);</div><div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;</div><div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;    rrt_new_point_vis=rrt_new_point_vis-&gt;init(<span class="stringliteral">&quot;rrt_new_point_vis&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;point&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;    rrt_new_point_vis-&gt;set_attribue(1,1,1,1,3,3,3);</div><div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;}</div><div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160;</div><div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;</div><div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;<span class="keywordtype">void</span> CONNECT_RRT::Create_Thread(PROBABILISTIC_MAP &amp;GridMap</div><div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;                            ,FLY_PLAN_T &amp;current_route)</div><div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;{</div><div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;    ros::Rate *loop_rate = <span class="keyword">new</span> ros::Rate(20);</div><div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;    RRT_STATE_C RRT_Calc_State = RRT_STATE_C::READY_TO_CALC;</div><div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;    std::stringstream ss;ss&lt;&lt;std::this_thread::get_id();</div><div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160;    </div><div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;rrt_thread started .Thead id: %s&quot;</span>,ss.str().c_str());</div><div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;    <span class="keyword">static</span> std::stringstream init_time;</div><div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;    std::time_t today_time = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());</div><div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;    init_time&lt;&lt; std::ctime(&amp;today_time);</div><div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;</div><div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;    OBSTACLE_GRID_MAP obstaclesMap;</div><div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;    <span class="keywordflow">while</span>(1){</div><div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;        <span class="comment">// rout(&quot;hellow world rRT.&quot;);</span></div><div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;        <span class="comment">// rout(&quot;%d&quot;,_unity-&gt;first_boot);</span></div><div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;new_map_avaliable ==<span class="keyword">false</span>) {  <span class="comment">//如果计算失败 那就停下来  继续计算</span></div><div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;            <span class="keywordflow">if</span>(RRT_Calc_State==RRT_STATE_C::TRY_AGAIN){ </div><div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;                loop_rate-&gt;sleep();</div><div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;            }<span class="keywordflow">else</span>{</div><div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;                loop_rate-&gt;sleep();</div><div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;                <span class="keywordflow">continue</span>;</div><div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;            }</div><div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160;        }</div><div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160;</div><div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;        std::stringstream time;</div><div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;        std::time_t today_time = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());</div><div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;        time&lt;&lt; std::ctime(&amp;today_time)&lt;&lt;<span class="stringliteral">&quot;_&quot;</span>&lt;&lt;(*rd)()%100;</div><div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;        <span class="keyword">auto</span> map_copy = GridMap.Gridmap.map;</div><div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;record_to_file)</div><div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160;        {</div><div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;            std::ofstream outputfile;</div><div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160;            std::stringstream file_path;</div><div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160;            file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str();</div><div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;            mkdir(file_path.str().c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);</div><div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;            file_path&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str();</div><div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;            mkdir(file_path.str().c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);</div><div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160;            file_path&lt;&lt;<span class="stringliteral">&quot;/originMat.csv&quot;</span>;</div><div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160;            outputfile.open(file_path.str().c_str());</div><div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160;            outputfile&lt;&lt;GridMap.Gridmap.center_x&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>&lt;&lt;GridMap.Gridmap.center_y&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>&lt;&lt;GridMap.Gridmap.grid_size&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>&lt;&lt;std::endl;</div><div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j =0;j&lt;map_copy.cols();j++){</div><div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;map_copy.rows();i++){</div><div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;                    outputfile&lt;&lt;map_copy(i,j)&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160;                }</div><div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;                outputfile&lt;&lt;std::endl;</div><div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;            }</div><div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;            outputfile.close();</div><div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;        }</div><div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;</div><div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;        <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;new_map_avaliable=<span class="keyword">false</span>;</div><div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;</div><div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;        <span class="keyword">auto</span> img = GridMap.get_whole_map();           <span class="keyword">auto</span> tar1 = GridMap.get_whole_map();</div><div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160;        </div><div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;        cv::threshold(img,img,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;map_occupied_thresh*255,255,CV_THRESH_BINARY);</div><div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;        cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;dilate_second_x,<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;dilate_second_y));</div><div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;        cv::dilate(img, tar1, element);</div><div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;</div><div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_rt_map){</div><div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;            cv::imshow(<span class="stringliteral">&quot;Origin_map&quot;</span>,tar1);</div><div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;        }</div><div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;        <span class="comment">// rout(&quot;hellow &quot;);</span></div><div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;        <span class="keywordflow">if</span>(!<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;flight_task_started) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;</div><div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;        obstaclesMap=GridMap.Gridmap;</div><div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160;</div><div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;        cv::cv2eigen(tar1,obstaclesMap.map);</div><div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;</div><div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;record_to_file)</div><div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;        {</div><div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;            std::ofstream outputfile;</div><div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;            std::stringstream file_path;</div><div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;            file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str()&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str()&lt;&lt;<span class="stringliteral">&quot;/obstacleMapMat.csv&quot;</span>;</div><div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;            outputfile.open(file_path.str().c_str());</div><div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;            outputfile&lt;&lt;GridMap.Gridmap.center_x&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>&lt;&lt;GridMap.Gridmap.center_y&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>&lt;&lt;GridMap.Gridmap.grid_size&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>&lt;&lt;std::endl;</div><div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j =0;j&lt;obstaclesMap.map.cols();j++){</div><div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;obstaclesMap.map.rows();i++){</div><div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;                    outputfile&lt;&lt;obstaclesMap.map(i,j)&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;                }</div><div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160;                outputfile&lt;&lt;std::endl;</div><div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;            }</div><div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;            outputfile.close();</div><div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;        }</div><div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160;        <span class="comment">// 如果有新地图，那就把当前的路径放进去检查一下有没有碰了,如果有的话先停下来,如果已经是二次尝试状态，那就跳过这个过程</span></div><div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;        <span class="keywordtype">bool</span> current_route_ocllision = <span class="keyword">false</span>;</div><div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;        copter_local_pos_att_t att_pos_copy = _mavlink-&gt;get_pose();</div><div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;        <span class="comment">// check_radius_vis-&gt;push_to_rviz(WPS(WP(att_pos_copy.pos_x,att_pos_copy.pos_y,att_pos_copy.pos_z)));</span></div><div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;        <span class="keywordflow">if</span>(RRT_Calc_State != RRT_Base::RRT_STATE_C::TRY_AGAIN)</div><div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;        {</div><div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;            <span class="comment">// rout(&quot;current_route.size()%d&quot;,current_route.size());</span></div><div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;            <span class="keywordflow">if</span>(current_route.size()&gt;1)<span class="comment">//当从未进行过规划时跳过</span></div><div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160;            {</div><div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;                <span class="keywordtype">int</span> tmp_idx = (<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;current_idx-5);</div><div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160;                tmp_idx&lt;0?0:tmp_idx;</div><div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0;i&lt;current_route.wps.size()-1;i++){</div><div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;                    <span class="keywordflow">if</span>(!check_if_path_ok(current_route.wps[i],current_route.wps[i+1],obstaclesMap)) <span class="comment">//如果路径不可行 那么就查找</span></div><div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;                    {</div><div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;                        <span class="keywordtype">double</span> tmp  = calc_dist(current_route.wps[i],WP(att_pos_copy.pos_x,att_pos_copy.pos_y,att_pos_copy.pos_z));</div><div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;                        <span class="keywordflow">if</span>(tmp&lt;_p-&gt;rrt_route_refresh_thresh)</div><div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;                        {</div><div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160;                            <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;lock();</div><div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;                            <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Current route ocllision check failed in Danger zone.&quot;</span>);</div><div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;                            <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;copter_state = UNIVERSAL_STATE::COPTER_STATE::STATE_LOITER;</div><div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;                            <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;unlock();</div><div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160;                            current_route_ocllision = <span class="keyword">true</span>; </div><div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;                        }</div><div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;                        <span class="keywordflow">break</span>;</div><div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;                    }</div><div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;                }</div><div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;                <span class="keywordflow">if</span>(!current_route_ocllision) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;            }   </div><div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160;        }</div><div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;        </div><div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;        cv::Mat PathMat;</div><div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;        std::vector&lt;Tree_t&gt; get_trees;</div><div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160;        std::vector&lt;WPS&gt; save_route;</div><div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;        cv::Mat element2 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size((<span class="keywordtype">int</span>)<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;dilate_first_x, (<span class="keywordtype">int</span>)<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;dilate_first_y));</div><div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;        dilate(img, img, element2);  </div><div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160;        obstaclesMap.map.setZero(); </div><div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;        cv::cv2eigen(img,obstaclesMap.map);</div><div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;</div><div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160;        Check_If_Target_OK(obstaclesMap,current_route);</div><div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">int</span> RRT_Faided_Cnt = 0;</div><div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Route Planning.&quot;</span>);</div><div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;</div><div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;        <span class="comment">// land_mark_vis-&gt;push_to_rviz(WPS(WP(att_pos_copy.pos_x,att_pos_copy.pos_y,att_pos_copy.pos_z)));</span></div><div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;</div><div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;        <span class="keywordflow">switch</span>(plan_online(att_pos_copy,obstaclesMap,current_route,PathMat,get_trees,save_route))</div><div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;        {</div><div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;            <span class="keywordflow">case</span> RRT_STATE_C::FOUND_AVALIABLE_PATH:</div><div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;                <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;lock();</div><div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160;                <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;copter_state = UNIVERSAL_STATE::COPTER_STATE::STATE_AUTO;</div><div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;                <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;unlock();</div><div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160;                RRT_Calc_State=RRT_STATE_C::READY_TO_CALC;</div><div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;                RRT_Faided_Cnt=0;</div><div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;            <span class="keywordflow">case</span> RRT_STATE_C::RRT_FAILED:</div><div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160;                <span class="keywordflow">if</span>(++RRT_Faided_Cnt&gt;5){</div><div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;                    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Warning:RRT_Failed %d times&quot;</span>,RRT_Faided_Cnt);</div><div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160;                    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Deduction: Map_Wrong.Operation:Clear Grid Map.&quot;</span>);</div><div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;                    <span class="comment">// GridMap.tree-&gt;clear();</span></div><div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160;                    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Deduction: Map_Wrong.Operation: Grid Map Cleared.&quot;</span>);</div><div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;                    loop_rate-&gt;sleep();</div><div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;                    loop_rate-&gt;sleep();</div><div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;                    loop_rate-&gt;sleep();</div><div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160;                    <span class="comment">// GridMap.Gridmap.map.setZero();</span></div><div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;                    RRT_Calc_State=RRT_STATE_C::TRY_AGAIN;</div><div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;                    RRT_Faided_Cnt=0;</div><div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160;                }<span class="keywordflow">else</span>{</div><div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160;                    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Warning:RRT_Failed %d times&quot;</span>,RRT_Faided_Cnt);</div><div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;                    RRT_Calc_State=RRT_STATE_C::TRY_AGAIN;</div><div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;                }</div><div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;                <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;lock();</div><div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;                 <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;copter_state = UNIVERSAL_STATE::COPTER_STATE::STATE_LOITER;</div><div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160;                <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;unlock();</div><div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160;            <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_FAILED:</div><div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;            <span class="keywordflow">case</span> RRT_STATE_C::MINIMUMSNAP_SRV_TIME_OUT_FAILED:</div><div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;            <span class="keywordflow">case</span> RRT_STATE_C::OTHER_FAILED:</div><div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;                <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;lock();</div><div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;                <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;copter_state = UNIVERSAL_STATE::COPTER_STATE::STATE_LOITER;</div><div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160;                <a class="code" href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a>-&gt;unlock();</div><div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;                <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Find a avaliable Path Failed .Ready to Try Again.&quot;</span>);</div><div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160;                RRT_Calc_State=RRT_STATE_C::TRY_AGAIN;</div><div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;        }</div><div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160;</div><div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160;        {</div><div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160;            std::vector&lt;WPS&gt; save_route_copy=save_route;</div><div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;            <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;record_to_file)</div><div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;            {</div><div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;                <span class="keywordflow">if</span>(PathMat.empty()){<a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;empty .!&quot;</span>);}</div><div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;                std::stringstream file_path;</div><div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160;                file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str()&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str()&lt;&lt;<span class="stringliteral">&quot;/PathMapMat_Flipped.png&quot;</span>;</div><div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;                <span class="comment">// cv::imwrite(file_path.str().c_str(),PathMat);</span></div><div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;                file_path.str(<span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;                file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str()&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str()&lt;&lt;<span class="stringliteral">&quot;/Path.csv&quot;</span>;</div><div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;                std::ofstream outputfile;</div><div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160;                outputfile.open(file_path.str().c_str());</div><div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j =0;j&lt;current_route.wps.size();j++){</div><div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;                    outputfile&lt;&lt;current_route.wps[j].x&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;                    outputfile&lt;&lt;current_route.wps[j].y&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160;                    outputfile&lt;&lt;current_route.wps[j].z&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160;                    outputfile&lt;&lt;std::endl;</div><div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;                }</div><div class="line"><a name="l01366"></a><span class="lineno"> 1366</span>&#160;</div><div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">int</span> tree_idx=0;tree_idx&lt;get_trees.size();tree_idx++){</div><div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;                    file_path.str(<span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;                    file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str()&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str()&lt;&lt;<span class="stringliteral">&quot;/RRT_&quot;</span>&lt;&lt;tree_idx&lt;&lt;<span class="stringliteral">&quot;_Path.csv&quot;</span>;</div><div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160;                    std::ofstream outputfile;</div><div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;                    outputfile.open(file_path.str().c_str());</div><div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160;                    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j =0;j&lt;get_trees[tree_idx].size();j++){</div><div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160;                        outputfile&lt;&lt;get_trees[tree_idx][j].index&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160;                        outputfile&lt;&lt;get_trees[tree_idx][j].x&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;                        outputfile&lt;&lt;get_trees[tree_idx][j].y&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;                        outputfile&lt;&lt;get_trees[tree_idx][j].z&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;                        outputfile&lt;&lt;get_trees[tree_idx][j].father_index&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;                        outputfile&lt;&lt;std::endl;</div><div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;                    }</div><div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160;                    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;RRT_%d Recorded,size%d,file_path:%s&quot;</span>,tree_idx,get_trees[tree_idx].size(),file_path.str().c_str());</div><div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;                    outputfile.close();</div><div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160;                }</div><div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160;</div><div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0 ; i&lt;save_route.size();i++){</div><div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160;                    <span class="keywordflow">if</span>(i==0){</div><div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160;                        file_path.str(<span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;                        file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str()&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str()&lt;&lt;<span class="stringliteral">&quot;/simplified_Path.csv&quot;</span>;</div><div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;                        std::ofstream outputfile;</div><div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160;                        outputfile.open(file_path.str().c_str());</div><div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160;                        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j =0;j&lt;save_route[0].size();j++){</div><div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160;                            outputfile&lt;&lt;save_route[0][j].x&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160;                            outputfile&lt;&lt;save_route[0][j].y&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01393"></a><span class="lineno"> 1393</span>&#160;                            outputfile&lt;&lt;save_route[0][j].z&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160;                            outputfile&lt;&lt;std::endl;</div><div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;                        }</div><div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160;                        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;simplified_path Recorded,size%d,file_path:%s&quot;</span>,save_route[0].size(),file_path.str().c_str());</div><div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160;                        outputfile.close();</div><div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160;                    }</div><div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160;                    <span class="keywordflow">if</span>(i==1){</div><div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;                        file_path.str(<span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160;                        file_path&lt;&lt;<span class="stringliteral">&quot;/home/az/rcc/&quot;</span>&lt;&lt;init_time.str()&lt;&lt;<span class="stringliteral">&quot;/&quot;</span>&lt;&lt;time.str()&lt;&lt;<span class="stringliteral">&quot;/rrt_Path.csv&quot;</span>;</div><div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;                        std::ofstream outputfile;</div><div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;                        outputfile.open(file_path.str().c_str());</div><div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;                        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j =0;j&lt;save_route[1].size();j++){</div><div class="line"><a name="l01405"></a><span class="lineno"> 1405</span>&#160;                            outputfile&lt;&lt;save_route[1][j].x&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160;                            outputfile&lt;&lt;save_route[1][j].y&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>; </div><div class="line"><a name="l01407"></a><span class="lineno"> 1407</span>&#160;                            outputfile&lt;&lt;save_route[1][j].z&lt;&lt;<span class="stringliteral">&quot;;&quot;</span>;</div><div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;                            outputfile&lt;&lt;std::endl;</div><div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160;                        }</div><div class="line"><a name="l01410"></a><span class="lineno"> 1410</span>&#160;                        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;rrt_path Recorded,size%d,file_path:%s&quot;</span>,save_route[1].size(),file_path.str().c_str());</div><div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160;                        outputfile.close();</div><div class="line"><a name="l01412"></a><span class="lineno"> 1412</span>&#160;                    }</div><div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160;                }</div><div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;            }</div><div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160;        }</div><div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;    }</div><div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;}</div><div class="ttc" id="main_8cpp_html_a5ac4b17db930392c756a747dc7f98e5f"><div class="ttname"><a href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a></div><div class="ttdeci">#define rout</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00030">main.cpp:30</a></div></div>
<div class="ttc" id="main_8cpp_html_ad5e0dbd36f0d71fce9b00b7f991b2f38"><div class="ttname"><a href="main_8cpp.html#ad5e0dbd36f0d71fce9b00b7f991b2f38">mtx</a></div><div class="ttdeci">std::mutex mtx</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00026">main.cpp:26</a></div></div>
<div class="ttc" id="namespacecv_html"><div class="ttname"><a href="namespacecv.html">cv</a></div></div>
<div class="ttc" id="class_c_a_l_c___t_i_m_e___l_o_g_html_a7c51acbcd7f35857b9dca6cdb69653ff"><div class="ttname"><a href="class_c_a_l_c___t_i_m_e___l_o_g.html#a7c51acbcd7f35857b9dca6cdb69653ff">CALC_TIME_LOG::title</a></div><div class="ttdeci">void title()</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00379">route_tinker.cpp:379</a></div></div>
<div class="ttc" id="class_l_o_g_html_a5a33fa815099d18217635aa1e20beb89"><div class="ttname"><a href="class_l_o_g.html#a5a33fa815099d18217635aa1e20beb89">LOG::to_log</a></div><div class="ttdeci">void to_log()</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00342">route_tinker.cpp:342</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a628de36a04ace954e48e1001ae9346f5"><div class="ttname"><a href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a></div><div class="ttdeci">Parameters * _p</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00003">flow_attacher.cpp:3</a></div></div>
<div class="ttc" id="class_c_a_l_c___t_i_m_e___l_o_g_html_ab2d534be3ea8b72936ccf805f738cd25"><div class="ttname"><a href="class_c_a_l_c___t_i_m_e___l_o_g.html#ab2d534be3ea8b72936ccf805f738cd25">CALC_TIME_LOG::CALC_TIME_LOG</a></div><div class="ttdeci">CALC_TIME_LOG()</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00388">route_tinker.cpp:388</a></div></div>
<div class="ttc" id="class_l_o_g_html_a18bb1b099fcf83954e9036a228c84f70"><div class="ttname"><a href="class_l_o_g.html#a18bb1b099fcf83954e9036a228c84f70">LOG::data</a></div><div class="ttdeci">std::stringstream data</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00354">route_tinker.cpp:354</a></div></div>
<div class="ttc" id="class_l_o_g_html_a015f6e62749fedaf5b5b6203e0ed66fd"><div class="ttname"><a href="class_l_o_g.html#a015f6e62749fedaf5b5b6203e0ed66fd">LOG::end</a></div><div class="ttdeci">void end()</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00373">route_tinker.cpp:373</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_ab0db892883304e1f5de7a967b5656f11"><div class="ttname"><a href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a></div><div class="ttdeci">UNIVERSAL_STATE * _unity</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00004">flow_attacher.cpp:4</a></div></div>
<div class="ttc" id="class_l_o_g_html"><div class="ttname"><a href="class_l_o_g.html">LOG</a></div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00341">route_tinker.cpp:341</a></div></div>
<div class="ttc" id="class_c_a_l_c___t_i_m_e___l_o_g_html"><div class="ttname"><a href="class_c_a_l_c___t_i_m_e___l_o_g.html">CALC_TIME_LOG</a></div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00378">route_tinker.cpp:378</a></div></div>
<div class="ttc" id="class_l_o_g_html_a532a61e14c7064cde0e4b060eedf4611"><div class="ttname"><a href="class_l_o_g.html#a532a61e14c7064cde0e4b060eedf4611">LOG::LOG</a></div><div class="ttdeci">LOG(std::string file=&quot;calc_time_log&quot;)</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00356">route_tinker.cpp:356</a></div></div>
<div class="ttc" id="class_l_o_g_html_a368f1364b676a91b83ec5f52867059e4"><div class="ttname"><a href="class_l_o_g.html#a368f1364b676a91b83ec5f52867059e4">LOG::file_path</a></div><div class="ttdeci">std::stringstream file_path</div><div class="ttdef"><b>Definition:</b> <a href="route__tinker_8cpp_source.html#l00351">route_tinker.cpp:351</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_8d97d736466c0c636acd974f1a4344f3.html">route_tinker</a></li><li class="navelem"><a class="el" href="route__tinker_8cpp.html">route_tinker.cpp</a></li>
    <li class="footer">制作者
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
  </ul>
</div>
</body>
</html>
